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<div class="title">transformCommand.h</div>  </div>
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<a href="transform_command_8h.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef TRANSFORM_COMMAND_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define TRANSFORM_COMMAND_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="command_8h.html">pcl/apps/point_cloud_editor/command.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="local_types_8h.html">pcl/apps/point_cloud_editor/localTypes.h</a>&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="cloud_8h.html">pcl/apps/point_cloud_editor/cloud.h</a>&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="class_transform_command.html">   49</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_transform_command.html">TransformCommand</a> : <span class="keyword">public</span> <a class="code" href="class_command.html">Command</a></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="class_transform_command.html#ac13077ecd6ff3937cb045b92ca09a247">   57</a></span>&#160;    <a class="code" href="class_transform_command.html#ac13077ecd6ff3937cb045b92ca09a247">TransformCommand</a> (<a class="code" href="local_types_8h.html#a9593545ca38af82dfae060606c43a0f2">ConstSelectionPtr</a> selection_ptr, <a class="code" href="local_types_8h.html#ab270fe8bf56ceef23c1c5fbe384c9430">CloudPtr</a> cloud_ptr,</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;                      <span class="keyword">const</span> <span class="keywordtype">float</span>* matrix, <span class="keywordtype">float</span> translate_x,</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;                      <span class="keywordtype">float</span> translate_y, <span class="keywordtype">float</span> translate_z);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  </div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="class_transform_command.html#aad5bace07559dd9f2c1466d3ab28f32e">   62</a></span>&#160;    <a class="code" href="class_transform_command.html#aad5bace07559dd9f2c1466d3ab28f32e">~TransformCommand</a> ()</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    }</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="comment">// Transforms the coorindates of the selected points according to the transform</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="comment">// matrix.</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="class_transform_command.html#a8f8b1bd59c2504f6045462e2a429b1c0">   70</a></span>&#160;    <a class="code" href="class_transform_command.html#a8f8b1bd59c2504f6045462e2a429b1c0">execute</a> ();</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="comment">// Restore the coordinates of the transformed points.</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="class_transform_command.html#abad11973f5f1886e2c6d995a2a3d2206">   74</a></span>&#160;    <a class="code" href="class_transform_command.html#abad11973f5f1886e2c6d995a2a3d2206">undo</a> ();</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="class_transform_command.html#aafa756bd4df0c2b8828841165435bc6b">   78</a></span>&#160;    <a class="code" href="class_transform_command.html#aafa756bd4df0c2b8828841165435bc6b">TransformCommand</a> (<span class="keyword">const</span> <a class="code" href="class_transform_command.html">TransformCommand</a>&amp;)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    {</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    }</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <a class="code" href="class_transform_command.html">TransformCommand</a>&amp;</div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="class_transform_command.html#a8df5b1a2f3d1e85f9170a7b36fba2c2f">   84</a></span>&#160;    <a class="code" href="class_transform_command.html#a8df5b1a2f3d1e85f9170a7b36fba2c2f">operator= </a>(<span class="keyword">const</span> <a class="code" href="class_transform_command.html">TransformCommand</a>&amp;)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      assert(<span class="keyword">false</span>); <span class="keywordflow">return</span> (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="class_transform_command.html#acddcefeb941a8625f5d94203869adde1">   93</a></span>&#160;    <a class="code" href="class_transform_command.html#acddcefeb941a8625f5d94203869adde1">applyTransform</a>(<a class="code" href="local_types_8h.html#a9593545ca38af82dfae060606c43a0f2">ConstSelectionPtr</a> sel_ptr);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="class_transform_command.html#aaece90463b73f7e1c843bf810a730f0e">   96</a></span>&#160;    <a class="code" href="local_types_8h.html#a9593545ca38af82dfae060606c43a0f2">ConstSelectionPtr</a> <a class="code" href="class_transform_command.html#aaece90463b73f7e1c843bf810a730f0e">selection_ptr_</a>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="class_transform_command.html#a9d95beef5d0f84443b12e6cdaee878c9">   99</a></span>&#160;    <a class="code" href="local_types_8h.html#ab270fe8bf56ceef23c1c5fbe384c9430">CloudPtr</a> <a class="code" href="class_transform_command.html#a9d95beef5d0f84443b12e6cdaee878c9">cloud_ptr_</a>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keywordtype">float</span> translate_x_, translate_y_, translate_z_;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="class_transform_command.html#a969dfa693345755aabd4b8acb01717ea">  104</a></span>&#160;    <a class="code" href="local_types_8h.html#ab119e5463fbd3af25e93c81bd306ae54">SelectionPtr</a> <a class="code" href="class_transform_command.html#a969dfa693345755aabd4b8acb01717ea">internal_selection_ptr_</a>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="class_transform_command.html#a3893d902ef00946dc40cde242383c86a">  108</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_transform_command.html#a3893d902ef00946dc40cde242383c86a">transform_matrix_</a>[<a class="code" href="local_types_8h.html#a28c0b3f93eed6b2e58d2192b7ef2d8f4">MATRIX_SIZE</a>];</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="class_transform_command.html#ad7e8f45c2d5044255eeeb1dad58c0454">  111</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_transform_command.html#ad7e8f45c2d5044255eeeb1dad58c0454">cloud_matrix_</a>[<a class="code" href="local_types_8h.html#a28c0b3f93eed6b2e58d2192b7ef2d8f4">MATRIX_SIZE</a>];</div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="class_transform_command.html#a7e88a8a081dc0c6fad2f69f1a8bf806a">  113</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_transform_command.html#a7e88a8a081dc0c6fad2f69f1a8bf806a">cloud_matrix_inv_</a>[<a class="code" href="local_types_8h.html#a28c0b3f93eed6b2e58d2192b7ef2d8f4">MATRIX_SIZE</a>];</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="class_transform_command.html#af26789450dec5efb31c4a366c84f937f">  116</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_transform_command.html#af26789450dec5efb31c4a366c84f937f">cloud_center_</a>[<a class="code" href="local_types_8h.html#a836d92df79d664ff6130b35f0c3c95ff">XYZ_SIZE</a>];</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;};</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// TRANSFORM_COMMAND_H_</span></div>
<div class="ttc" id="aclass_command_html"><div class="ttname"><a href="class_command.html">Command</a></div><div class="ttdoc">The abstract parent class of all the command classes. Commands are non-copyable.</div><div class="ttdef"><b>Definition:</b> command.h:50</div></div>
<div class="ttc" id="aclass_transform_command_html"><div class="ttname"><a href="class_transform_command.html">TransformCommand</a></div><div class="ttdef"><b>Definition:</b> transformCommand.h:50</div></div>
<div class="ttc" id="aclass_transform_command_html_a3893d902ef00946dc40cde242383c86a"><div class="ttname"><a href="class_transform_command.html#a3893d902ef00946dc40cde242383c86a">TransformCommand::transform_matrix_</a></div><div class="ttdeci">float transform_matrix_[MATRIX_SIZE]</div><div class="ttdef"><b>Definition:</b> transformCommand.h:108</div></div>
<div class="ttc" id="aclass_transform_command_html_a7e88a8a081dc0c6fad2f69f1a8bf806a"><div class="ttname"><a href="class_transform_command.html#a7e88a8a081dc0c6fad2f69f1a8bf806a">TransformCommand::cloud_matrix_inv_</a></div><div class="ttdeci">float cloud_matrix_inv_[MATRIX_SIZE]</div><div class="ttdoc">The inverted transform matrix of the cloud used by this command</div><div class="ttdef"><b>Definition:</b> transformCommand.h:113</div></div>
<div class="ttc" id="aclass_transform_command_html_a8df5b1a2f3d1e85f9170a7b36fba2c2f"><div class="ttname"><a href="class_transform_command.html#a8df5b1a2f3d1e85f9170a7b36fba2c2f">TransformCommand::operator=</a></div><div class="ttdeci">TransformCommand &amp; operator=(const TransformCommand &amp;)</div><div class="ttdoc">Equal operator - object is non-copyable</div><div class="ttdef"><b>Definition:</b> transformCommand.h:84</div></div>
<div class="ttc" id="aclass_transform_command_html_a8f8b1bd59c2504f6045462e2a429b1c0"><div class="ttname"><a href="class_transform_command.html#a8f8b1bd59c2504f6045462e2a429b1c0">TransformCommand::execute</a></div><div class="ttdeci">void execute()</div><div class="ttdoc">Executes the command.</div></div>
<div class="ttc" id="aclass_transform_command_html_a969dfa693345755aabd4b8acb01717ea"><div class="ttname"><a href="class_transform_command.html#a969dfa693345755aabd4b8acb01717ea">TransformCommand::internal_selection_ptr_</a></div><div class="ttdeci">SelectionPtr internal_selection_ptr_</div><div class="ttdoc">An internal selection object used to perform undo</div><div class="ttdef"><b>Definition:</b> transformCommand.h:104</div></div>
<div class="ttc" id="aclass_transform_command_html_a9d95beef5d0f84443b12e6cdaee878c9"><div class="ttname"><a href="class_transform_command.html#a9d95beef5d0f84443b12e6cdaee878c9">TransformCommand::cloud_ptr_</a></div><div class="ttdeci">CloudPtr cloud_ptr_</div><div class="ttdoc">a pointer poiting to the cloud</div><div class="ttdef"><b>Definition:</b> transformCommand.h:99</div></div>
<div class="ttc" id="aclass_transform_command_html_aad5bace07559dd9f2c1466d3ab28f32e"><div class="ttname"><a href="class_transform_command.html#aad5bace07559dd9f2c1466d3ab28f32e">TransformCommand::~TransformCommand</a></div><div class="ttdeci">~TransformCommand()</div><div class="ttdoc">Destructor</div><div class="ttdef"><b>Definition:</b> transformCommand.h:62</div></div>
<div class="ttc" id="aclass_transform_command_html_aaece90463b73f7e1c843bf810a730f0e"><div class="ttname"><a href="class_transform_command.html#aaece90463b73f7e1c843bf810a730f0e">TransformCommand::selection_ptr_</a></div><div class="ttdeci">ConstSelectionPtr selection_ptr_</div><div class="ttdoc">pointers to constructor params</div><div class="ttdef"><b>Definition:</b> transformCommand.h:96</div></div>
<div class="ttc" id="aclass_transform_command_html_aafa756bd4df0c2b8828841165435bc6b"><div class="ttname"><a href="class_transform_command.html#aafa756bd4df0c2b8828841165435bc6b">TransformCommand::TransformCommand</a></div><div class="ttdeci">TransformCommand(const TransformCommand &amp;)</div><div class="ttdoc">Copy constructor - object is not copy-constructable</div><div class="ttdef"><b>Definition:</b> transformCommand.h:78</div></div>
<div class="ttc" id="aclass_transform_command_html_abad11973f5f1886e2c6d995a2a3d2206"><div class="ttname"><a href="class_transform_command.html#abad11973f5f1886e2c6d995a2a3d2206">TransformCommand::undo</a></div><div class="ttdeci">void undo()</div><div class="ttdoc">Undos the command.</div></div>
<div class="ttc" id="aclass_transform_command_html_ac13077ecd6ff3937cb045b92ca09a247"><div class="ttname"><a href="class_transform_command.html#ac13077ecd6ff3937cb045b92ca09a247">TransformCommand::TransformCommand</a></div><div class="ttdeci">TransformCommand(ConstSelectionPtr selection_ptr, CloudPtr cloud_ptr, const float *matrix, float translate_x, float translate_y, float translate_z)</div><div class="ttdoc">Constructor</div></div>
<div class="ttc" id="aclass_transform_command_html_acddcefeb941a8625f5d94203869adde1"><div class="ttname"><a href="class_transform_command.html#acddcefeb941a8625f5d94203869adde1">TransformCommand::applyTransform</a></div><div class="ttdeci">void applyTransform(ConstSelectionPtr sel_ptr)</div><div class="ttdoc">Applies the transformation to the point values</div></div>
<div class="ttc" id="aclass_transform_command_html_ad7e8f45c2d5044255eeeb1dad58c0454"><div class="ttname"><a href="class_transform_command.html#ad7e8f45c2d5044255eeeb1dad58c0454">TransformCommand::cloud_matrix_</a></div><div class="ttdeci">float cloud_matrix_[MATRIX_SIZE]</div><div class="ttdoc">The transform matrix of the cloud used by this command</div><div class="ttdef"><b>Definition:</b> transformCommand.h:111</div></div>
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<div class="ttc" id="alocal_types_8h_html_a28c0b3f93eed6b2e58d2192b7ef2d8f4"><div class="ttname"><a href="local_types_8h.html#a28c0b3f93eed6b2e58d2192b7ef2d8f4">MATRIX_SIZE</a></div><div class="ttdeci">const unsigned int MATRIX_SIZE</div><div class="ttdef"><b>Definition:</b> localTypes.h:181</div></div>
<div class="ttc" id="alocal_types_8h_html_a836d92df79d664ff6130b35f0c3c95ff"><div class="ttname"><a href="local_types_8h.html#a836d92df79d664ff6130b35f0c3c95ff">XYZ_SIZE</a></div><div class="ttdeci">const unsigned int XYZ_SIZE</div><div class="ttdef"><b>Definition:</b> localTypes.h:172</div></div>
<div class="ttc" id="alocal_types_8h_html_a9593545ca38af82dfae060606c43a0f2"><div class="ttname"><a href="local_types_8h.html#a9593545ca38af82dfae060606c43a0f2">ConstSelectionPtr</a></div><div class="ttdeci">boost::shared_ptr&lt; const Selection &gt; ConstSelectionPtr</div><div class="ttdef"><b>Definition:</b> localTypes.h:83</div></div>
<div class="ttc" id="alocal_types_8h_html_ab119e5463fbd3af25e93c81bd306ae54"><div class="ttname"><a href="local_types_8h.html#ab119e5463fbd3af25e93c81bd306ae54">SelectionPtr</a></div><div class="ttdeci">boost::shared_ptr&lt; Selection &gt; SelectionPtr</div><div class="ttdoc">The type for boost shared pointer pointing to a selection buffer</div><div class="ttdef"><b>Definition:</b> localTypes.h:79</div></div>
<div class="ttc" id="alocal_types_8h_html_ab270fe8bf56ceef23c1c5fbe384c9430"><div class="ttname"><a href="local_types_8h.html#ab270fe8bf56ceef23c1c5fbe384c9430">CloudPtr</a></div><div class="ttdeci">boost::shared_ptr&lt; Cloud &gt; CloudPtr</div><div class="ttdoc">The type for boost shared pointer pointing to a cloud object</div><div class="ttdef"><b>Definition:</b> localTypes.h:72</div></div>
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